\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.78 \% & 90.55 \% & 87.62 \%\\
Car (Orientation) & 95.76 \% & 90.42 \% & 87.40 \%\\
Car (3D Detection) & 81.51 \% & 75.05 \% & 70.53 \%\\
Car (Bird's Eye View) & 89.86 \% & 85.62 \% & 80.95 \%\\
Pedestrian (Detection) & 60.69 \% & 49.74 \% & 45.64 \%\\
Pedestrian (Orientation) & 58.80 \% & 47.60 \% & 43.53 \%\\
Pedestrian (3D Detection) & 46.53 \% & 37.37 \% & 33.56 \%\\
Pedestrian (Bird's Eye View) & 50.12 \% & 41.59 \% & 37.79 \%\\
Cyclist (Detection) & 87.27 \% & 69.59 \% & 62.84 \%\\
Cyclist (Orientation) & 86.97 \% & 69.21 \% & 62.47 \%\\
Cyclist (3D Detection) & 70.97 \% & 54.36 \% & 48.66 \%\\
Cyclist (Bird's Eye View) & 76.95 \% & 59.36 \% & 53.14 \%
\end{tabular}